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Too fast circling during the localization

asked 2014-07-23 05:52:11 -0500

Moda gravatar image

updated 2014-07-24 06:08:50 -0500

When with rviz i inform the estimate localization, the robot start by circling very fasly. It is too fast, and may be dangerous. So how can I decrease the speed? I tried to reduce in the base_local_params_planner the acc_lim_th et the max_rotationnal_vel, but it doesn't work.

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What exactly are you doing? The "2D Pose Estimate" button in rviz should not move the robot at all.

dornhege gravatar image dornhege  ( 2014-07-24 08:44:39 -0500 )edit

I'm doing 2D Pose Estimate and 2D Nav Goal in rviz

Moda gravatar image Moda  ( 2014-07-24 08:49:08 -0500 )edit

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answered 2014-08-02 23:17:49 -0500

2ROS0 gravatar image

updated 2014-08-11 20:42:55 -0500

Just some sanity checks: Set the rotational recovery to false and see if that rotation stops. Also, try to manually move the robot around to check if it localizes in the map properly.

PS - I have also noticed that in if you reduce the max x and theta velocities below a certain limit, the robot tends to rotate. I do not know what causes this behavior.

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Asked: 2014-07-23 05:52:11 -0500

Seen: 139 times

Last updated: Aug 11 '14